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snowBOTs: Gyro guided steering of a teleoperated tractor during winter conditions
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
Student LTU.
2008 (English)Conference paper, Presentation (Other academic)
Abstract [en]

This article describes the steering system implemented on the tractor IceMaker I. No direct position feedback is used for the steering angle of the front wheels. Instead, the steering angle is estimated by a motion model of the vehicle using gyro and odometer information. This estimated angle is used as feedback to a regulator that controls the steering system. The operator sets the requested steering angle and the regulator controls the hydraulic steering system to maintain the requested steering angle. Within certain limits, the tractor can be expected to behave according to the motion model irrespective of the surface conditions. The tractor can be teleoperated from a remote computer through a wireless network, WLAN. To enable teleoperation, the tractor has been equipped with a computer, some sensors, and other necessary equipment. During teleoperation, the operator controls the steering angle of the front wheels and the speed of the tractor using a joystick. The steering system has been tested both during winter conditions on a low friction surface and also on dry asphalt. The results indicates good performance when teleoperating the tractor. When driving carefully it is possible to operate the tractor up to full speed (25km/h). However, the steering regulator tends to exaggerate the real steering angle during sharp turns when driving on very slippery surface.

Place, publisher, year, edition, pages
Research subject
Industrial Electronics
URN: urn:nbn:se:ltu:diva-31152Local ID: 53bb3890-742a-11dd-a03a-000ea68e967bOAI: diva2:1004382
International Workshop on Research and Education in Mechatronics : 18/09/2008 - 19/09/2008
CASTT - Centre for Automotive Systems Technologies and Testing
Godkänd; 2008; 20080827 (hf)Available from: 2016-09-30 Created: 2016-09-30Bibliographically approved

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Fredriksson, HåkanRönnbäck, SvenHyyppä, Kalevi
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